The 03 4.4 is mighty heavy to the point of being a bit silly when parking (We have Tundra p/u truck which has pretty light steering)
The 06 4.8iS was quite light and now we have an e70 35d and it is about midway between the e53s. At speed I believe all 3 are similar in feel.

__________________
2003 4.4i black ext./black int./black headliner (kid's runabout)
2014 535d X-drive, M package, silver/black interior

Sold but not forgotten:
2009 E70 35d, black ext./black int./black headliner (sold 2021)
2006 4.8iS Le Mans blue/cream int./black headliner, SOLD in 2012 sadly...

Other hardware:
2015 Cayenne S (wife's new DD and definitely wroooommmmm)
2016 Tundra 1794 edition crew cab, luxo hauler
2005 Tundra crew cab, weekend hauler. Sold after 150k very happy miles.